Information Technology Journal1812-56381812-5646Asian Network for Scientific Information10.3923/itj.2012.1612.1618Wen-DeKe Bing-rongH. GangC. Zhi-pingP. Quan-deY. LiangH. 1120121111The method of similarity movement has attracted more attention
for it is better than the traditional mathematics analysis in energy optimization
and smooth joint track when designing the complicated joint tracks for humanoid
robot. The extended architecture of obtaining and applying similar tracks, the
similarity degree and synchronous control and Multi-level key poses were studied.
Firstly, the extended architecture of obtaining and applying similar tracks
was proposed, in which there were 9 modules movement capturing, feature extraction,
applying similar tracks, kinematics constraint, dynamics constraint, simulating
experiment, practical experiment, standard database and correction for environments.
Secondly, the definition of similarity degree was shown from the aspects of
differences in angles, angular velocities and angular accelerations between
human being and humanoid robot. The movement synchronization was controlled
through the angular velocity ratio, its rate of change, the angular acceleration
ratio and its rate of change. Thirdly, the converting relationships of key poses
were presented. For multi level key poses, the rules of priority level from
the highest level to the lowest one and the corresponding dendrogram from bottom
to top were constructed. The method of how to calculate the period of time for
the γth level was also given. In experiment, the humanoid robot Aldebaran
Nao was used to imitate the dance motion of human being. Each dancing pose of
human being was divided into 4 level key poses (Finger, Wrist, Elbow, Shoulder)
for the upper limbs and (Finger, Wrist, Elbow, Shoulder) for the lower limbs.
The multi level key poses acted simultaneously to realize the synchronization
of similar movement for humanoid robot. The comparison of corresponding angles
such as shoulders, elbows, hips, knees and ankles between human being and humanoid
robot showed the effect of similarity movement.]]>Chen, P.C.,20098895902Bo, Z.Q., H.B. Rong, P.S. Hao and P.Q. Shu,2010912701277Soltanpour, M.R., M.M. Fateh and A.R. Ahmadi Fard,2008843974403Naeimi, M., M. Teshnehlab, M. Aliyari Sh and M. Aliasghary,2009912581266Arbaoui, F., M.L. Saidi, S. Kermiche and H.A. Abbassi,2006622752280Motlagh, O.,20114295299Moldenhauer, J., I. Boesnach and T. Beth,20052005pp: 312317Huang, Q., Z. Yu and W. Zhang, W. Xu and X. Chen,201028737745Ruchanurucks, M., S. Nakaoka, S. Kudoh and K. Ikeuchi,20112011pp: 674679Xiao-Jun, Z., H. Qiang, P. Zhao-Qin, Z. Li-Ge and L. Ke-Jie,200527358361Takano, W., K. Yamane and Y. Nakamura,20072007pp: 30923097Kim, S., C.H. Kim and J.H. Park,20062006pp: 34863491Wen-De, K., C. Gang, H. Bing-Rong, C. Ze-Su and Y. Quan-De,201032766772Wen-De, K., C. Gang, H. Bing-Rong, C. Ze-Su, P. Song-Hao and Z. Qiu-Bo,20063710061013 Liu, H.Y., W.J. Wang, R.J. Wang, C.W. Tung, P.J. Wang and I.P. Chang,201161149161Zhixiang, T., W. Hongtao and F. Chun,20111012221227Hapsari, G.C. and A.S. Prabuwono,20101027932798Liu, H.Y., W.J. Wang and R.J. Wang,201154255262Wang, R.J., J.W. Zhang, J.M. Xu and H.Y. Liu,20092009pp: 19952000Ramos, O.E., L. Saab, S. Hak and N. Mansard,20112011pp: 224230Albrecht, S., K. Ramirez-Amaro, F. Ruiz-Ugalde, D. Weikersdorfer, M. Leibold, M. Ulbrich and M. Beetz,20112011pp: 602607Boutin, L., A. Eon, S. Zeghloul and P. Lacouture,20102010pp: 12561261Do, M., J. Romero, H. Kjellstrom, P. Azad, T. Asfour, D. Kragic and R. Dillmann,20092009pp: 465471